This class allows one to take all three types of frictional interactions into account. The sliding, rolling and torsional frictional interaction. See. More...

#include <MindlinRollingTorsionInteraction.h>

Inheritance diagram for MindlinRollingTorsionInteraction:

Public Types
typedef MindlinRollingTorsionSpecies	SpeciesType
	An alias for FrictionSpecies. More...

Public Types inherited from MindlinInteraction
typedef MindlinSpecies	SpeciesType
	An alias name for MindlinSpecies data type. More...

Public Member Functions
	MindlinRollingTorsionInteraction (BaseInteractable P, BaseInteractable I, unsigned timeStamp)
	Constructor. More...

	MindlinRollingTorsionInteraction ()

	MindlinRollingTorsionInteraction (const MindlinRollingTorsionInteraction &p)
	Copy constructor. More...

	~MindlinRollingTorsionInteraction () override
	Destructor. More...

void	computeFrictionForce ()
	Computes the forces arising due to all three types of friction, i.e., sliding, rolling and torsional. More...

void	read (std::istream &is) override
	Interaction read function, which accepts an std::istream as input. More...

void	write (std::ostream &os) const override
	Interaction print function, which accepts an std::ostream as input. More...

void	integrate (Mdouble timeStep) override
	Computes the amount of compression in all the springs, i.e., increments the rollingSpring_, slidingSpring_ (see MindlinInteraction.cc) and torsionSpring_. More...

Mdouble	getElasticEnergy () const override
	Returns the global amount of energy stored in all the springs (rolling, sliding and torsional). More...

std::string	getBaseName () const
	Returns interaction name/type. More...

const MindlinRollingTorsionSpecies *	getSpecies () const
	Returns a const pointer of type FrictionSpecies*. More...

void	reverseHistory () override
	A useful feature if one wants to return to the initial state of the springs. However, reverse history decrements the current state to the state corresponding to previous time step. Decrements the state or value of rollingSpring_, torsionSpring_ and slidingSpring_. More...

void	rotateHistory (Matrix3D &rotationMatrix) override
	When periodic particles are used, some interactions need certain history properties rotated (e.g. tangential springs). This is the function for that. More...

Vec3D	getRollingSpring () const

Vec3D	getTorsionSpring () const

void	setRollingSpring (Vec3D rollingSpring)

void	setTorsionSpring (Vec3D torsionSpring)

Public Member Functions inherited from MindlinInteraction
	MindlinInteraction (BaseInteractable P, BaseInteractable I, unsigned timeStamp)
	Constructor. More...

	MindlinInteraction (const MindlinInteraction &p)
	Copy constructor. More...

	MindlinInteraction ()
	Empty constructor. More...

	~MindlinInteraction () override
	Destructor. More...

void	computeFrictionForce ()
	Computes the tangential force generated due to compression in the sliding spring. Does take into account if the interaction is between particle-particle or particle-wall. More...

Mdouble	getTangentialOverlap () const override
	Returns the amount of tangential overlap which is needed by BaseInteraction::writeToFstat(). More...

std::string	getBaseName () const
	Returns the type/name of interaction (sliding friction interaction) More...

const Vec3D	getTangentialForce () const override
	Returns the sliding friction force vector. More...

const Mdouble	getTangentialForceDirection () const

Mdouble	getAbsoluteNormalForcePrevious () const
	Returns the absolute value of the norm (length) of the previous Normal force vector. More...

void	setAbsoluteNormalForcePrevious (Mdouble absoluteNormalForcePrevious)
	allows the previous normal force to be (re)set from external classes More...

const MindlinSpecies *	getSpecies () const
	Returns a const pointer of type MindlinSpecies*. More...

void	setTangentialStiffnessZero (Mdouble newKt0)

Mdouble	getTangentialStiffnessZero ()

Mdouble	getTangentialStiffness ()

void	updateTangentialStiffnessZero (Mdouble rad, double shearMod)

void	updateTangentialStiffnessInitial (Mdouble fric)

void	updateTangentialStiffnessInitial2 (Mdouble fric, Vec3D direction)

void	updateTangentialStiffnessUnloading (Mdouble fric, Vec3D direction)

void	updateTangentialStiffnessReloading (Mdouble fric, Vec3D direction)

void	updateTangentialStiffnessReloadingTanUp (Mdouble fric, Vec3D direction)

void	updateTangentialStiffnessUnloadingTanDown (Mdouble fric, Vec3D direction)

void	updateK_t (Mdouble fric, Vec3D direction, bool useTurningPoint, bool isLoading)

Public Member Functions inherited from BaseInteraction
	BaseInteraction (BaseInteractable P, BaseInteractable I, unsigned timeStamp)
	A constructor takes the BaseInteractable objects which are interacting (come into contact) and time the interaction starts. More...

	BaseInteraction ()

	BaseInteraction (const BaseInteraction &p)
	Copy constructor. More...

	~BaseInteraction () override
	The destructor. It removes this interactions from the objects that were interacting, and writes the time to a file when needed. More...

virtual void	actionsOnErase ()
	If an interaction needs to do something before it gets erased, add it here. E.g. Liquid bridges rupture at the end of their lifetime, and the liquid bridge volume has to be redistributed. The reason this action is not done in the destructor is that this action should not be taken when erasing ghost interactions. More...

virtual void	computeForce ()
	Virtual function that contains the force law between the two objects interacting. More...

void	writeToFStat (std::ostream &os, Mdouble time) const
	Writes forces data to the FStat file. More...

std::string	getName () const override
	Virtual function which allows interactions to be named. More...

void	setDistance (Mdouble distance)
	Sets the interaction distance between the two interacting objects. More...

void	setNormal (Vec3D normal)
	Sets the normal vector between the two interacting objects. More...

void	setOverlap (Mdouble overlap)
	Set the overlap between the two interacting object. More...

void	setContactPoint (Vec3D contactPoint)
	Set the location of the contact point between the two interacting objects. More...

void	setTimeStamp (unsigned timeStamp)
	Updates the time step of the interacting. Note, time steps used to find completed interactions. More...

void	setSpecies (const BaseSpecies *species)
	Set the Species of the interaction; note this can either be a Species or MixedSpecies. More...

void	setP (BaseInteractable *P)
	Sets the first object involved in the interaction (normally a particle). More...

void	setI (BaseInteractable *I)
	Sets the second object involved in the interaction (often particle or wall). More...

void	importP (BaseInteractable *P)
	Sets the first object involved in the interaction (normally a particle). More...

void	importI (BaseInteractable *I)
	Sets the second object involved in the interaction (often particle or wall). More...

Vec3D	getIP () const

Vec3D	getIC () const

Vec3D	getCP () const

void	setLagrangeMultiplier (Mdouble multiplier)

Mdouble	getLagrangeMultiplier ()

void	setHandler (InteractionHandler *handler)
	Sets the pointer to the interaction hander which is storing this interaction. More...

InteractionHandler *	getHandler () const
	Gets a point to the interaction handlers to which this interaction belongs. More...

const Vec3D &	getForce () const
	Gets the current force (vector) between the two interacting objects. More...

const Vec3D &	getTorque () const
	Gets the current torque (vector) between the two interacting objects. More...

const Vec3D &	getNormal () const
	Gets the normal vector between the two interacting objects. More...

const Vec3D &	getContactPoint () const
	Gets constant reference to contact point (vector). More...

Mdouble	getOverlap () const
	Returns a Mdouble with the current overlap between the two interacting objects. More...

Mdouble	getOverlapVolume () const
	Returns the overlap volume between two interacting objects. More...

Mdouble	getContactRadius () const
	Returns a Mdouble with the current contact between the two interacting objects. More...

void	removeFromHandler ()
	Removes this interaction from its interaction hander. More...

void	copySwitchPointer (const BaseInteractable original, BaseInteractable ghost) const
	This copies the interactions of the original particle and replaces the original with the ghost copy. More...

void	gatherContactStatistics ()

BaseInteractable *	getP ()
	Returns a pointer to first object involved in the interaction (normally a particle). More...

BaseInteractable *	getI ()
	Returns a pointer to the second object involved in the interaction (often a wall or a particle). More...

const BaseInteractable *	getP () const
	Returns a constant pointer to the first object involved in the interaction. More...

const BaseInteractable *	getI () const
	Returns a constant pointer to the second object involved in the interaction. More...

Mdouble	getTimeStamp () const
	Returns an Mdouble which is the time stamp of the interaction. More...

Mdouble	getDistance () const
	Returns an Mdouble which is the norm (length) of distance vector. More...

const Vec3D &	getRelativeVelocity () const
	Returns a constant reference to a vector of relative velocity. More...

Mdouble	getNormalRelativeVelocity () const
	Returns a double which is the norm (length) of the relative velocity vector. More...

Mdouble	getAbsoluteNormalForce () const
	Returns the absolute value of the norm (length) of the Normal force vector. More...

virtual BaseInteraction *	copy () const =0
	Makes a copy of the interaction and returns a pointer to the copy. More...

void	setFStatData (std::fstream &fstat, BaseParticle P, BaseWall I)

void	setFStatData (std::fstream &fstat, BaseParticle P, BaseParticle I)

unsigned int	getMultiContactIdentifier () const

void	setMultiContactIdentifier (unsigned int multiContactIdentifier_)

virtual void	actionsAfterTimeStep ()

virtual unsigned	getNumberOfFieldsVTK () const

virtual std::string	getTypeVTK (unsigned i) const

virtual std::string	getNameVTK (unsigned i) const

virtual std::vector< Mdouble >	getFieldVTK (unsigned i) const

void	addForce (Vec3D force)
	add an force increment to the total force. More...

void	addTorque (Vec3D torque)
	add a torque increment to the total torque. More...

void	setForce (Vec3D force)
	set total force (this is used by the normal force, tangential forces are added use addForce) More...

void	setTorque (Vec3D torque)
	set the total force (this is used by the normal force, tangential torques are added use addTorque) More...

const BaseSpecies *	getBaseSpecies () const
	Return a constant point to BaseSpecies of the interaction. More...

virtual void	createMPIType ()

virtual void *	createMPIInteractionDataArray (unsigned int numberOfInteractions) const

virtual void	deleteMPIInteractionDataArray (void *dataArray)

virtual void	getMPIInteraction (void *historyDataArray, unsigned int index) const
	copies the history interactions into the data array More...

virtual void	getInteractionDetails (void *interactionDataArray, unsigned int index, unsigned int &identificationP, unsigned int &identificationI, bool &isWallInteraction, unsigned &timeStamp)

virtual void	setMPIInteraction (void *interactionDataArray, unsigned int index, bool resetPointers)

void	setBasicMPIInteractionValues (int P, int I, unsigned timeStamp, Vec3D force, Vec3D torque, bool isWallInteraction, bool resetPointers)

void	setIdentificationP (unsigned int identification)

void	setIdentificationI (int identification)

void	setWallInteraction (bool flag)

unsigned int	getIdentificationP ()

int	getIdentificationI ()

bool	isWallInteraction ()

virtual bool	isBonded () const

Public Member Functions inherited from BaseObject
	BaseObject ()=default
	Default constructor. More...

	BaseObject (const BaseObject &p)=default
	Copy constructor, copies all the objects BaseObject contains. More...

virtual	~BaseObject ()=default
	virtual destructor More...

virtual void	moveInHandler (unsigned int index)
	Except that it is virtual, it does the same thing as setIndex() does. More...

void	setIndex (unsigned int index)
	Allows one to assign an index to an object in the handler/container. More...

void	setId (unsigned long id)
	Assigns a unique identifier to each object in the handler (container) which remains constant even after the object is deleted from the container/handler. More...

unsigned int	getIndex () const
	Returns the index of the object in the handler. More...

unsigned int	getId () const
	Returns the unique identifier of any particular object. More...

void	setGroupId (unsigned groupId)

unsigned	getGroupId () const

Private Attributes
Vec3D	rollingSpring_
	Stores the amount of rolling spring compression. Set in integrate(), used in computing frictional force due to rolling. More...

Vec3D	rollingSpringVelocity_
	Stores the rate at which the rolling spring compresses or relaxes. Set in computeFrictionForce(), used in computing the amount of compression in rolling spring. Used in integrate(). More...

Vec3D	torsionSpring_
	Stores the amount of torsional spring compression. Set in integrate(), used in computing frictional force due to torsion. More...

Vec3D	torsionSpringVelocity_
	Stores the rate at which the torsional spring compresses or relaxes. Set in computeFrictionForce(), used in computing the amount of compression in torsion spring. Used in integrate(). More...

Additional Inherited Members
Protected Member Functions inherited from BaseInteraction
Mdouble	getEffectiveRadius () const
	Returns a Mdouble to the effective radius of the interaction. (Not corrected for the overlap) More...

Mdouble	getEffectiveMass () const
	Returns a Mdouble to the effective radius of the interaction. (Not corrected for the overlap) More...

void	setRelativeVelocity (Vec3D relativeVelocity)
	set the relative velocity of the current of the interactions. More...

void	setNormalRelativeVelocity (Mdouble normalRelativeVelocit)
	set the normal component of the relative velocity. More...

void	setAbsoluteNormalForce (Mdouble absoluteNormalForce)
	the absolute values of the norm (length) of the normal force More...

virtual Mdouble	getElasticEnergyAtEquilibrium (Mdouble adhesiveForce) const

void	writeInteraction (std::ostream &os, bool created) const
	Writes information about a interaction to the interaction file. More...

Protected Attributes inherited from MindlinInteraction
Vec3D	slidingSpring_
	Stores the amount of sliding spring ( \(\delta\)) compression from the expression \(f_t=-k\delta-\nurelVel\). Set in the member function integrate(), used in computeFrictionForce(). More...

Vec3D	slidingSpringPrevious_

Vec3D	slidingSpringVelocity_
	Stores the rate at which the sliding spring compressed or relaxed. Set in the member function computeFrictionForce() and used in integrate(). More...

Vec3D	tangentialForce_
	Computes the tangential force such that \(\|f_t\|=\mu*\|f_n\|\). Set and computed in computeFrictionForce(). More...

Vec3D	tangentialForcePrevious_

Mdouble	tangentialForceDirection_

Vec3D	tangentialForceTurningPointLU_

Vec3D	tangentialForceTurningPointUL_

Vec3D	tangentialForceTurningPointLUTemp_

Vec3D	tangentialForceTurningPointULTemp_

Vec3D	tangentialDisplacementTurningPointUL_

Vec3D	tangentialDisplacementTurningPointLU_

Mdouble	tangentialStiffnessZero_

Mdouble	tangentialStiffnessZeroPrevious_

Mdouble	tangentialStiffness_

bool	priorLoadingFlag_

Vec3D	tangentialForceTemp_

Vec3D	tangentialDisplacementTemp_

Vec3D	tangentialForceTemp2_

Vec3D	tangentialDisplacementTemp2_

Mdouble	tangentialDisplacementSL_

Vec3D	initialTangentialVelocity_

Mdouble	absoluteNormalForcePrevious_

Detailed Description

This class allows one to take all three types of frictional interactions into account. The sliding, rolling and torsional frictional interaction. See.

Member Typedef Documentation

◆ SpeciesType

typedef MindlinRollingTorsionSpecies MindlinRollingTorsionInteraction::SpeciesType

An alias for FrictionSpecies.

Constructor & Destructor Documentation

◆ MindlinRollingTorsionInteraction() [1/3]

MindlinRollingTorsionInteraction::MindlinRollingTorsionInteraction	(	BaseInteractable *	P,
		BaseInteractable *	I,
		unsigned	timeStamp
	)

Constructor.

Parameters

[in]	P
[in]	I
[in]	timeStamp

         : BaseInteraction(P, I, timeStamp), MindlinInteraction(P, I, timeStamp)
 {
     rollingSpring_.setZero();
     torsionSpring_.setZero();
 #ifdef DEBUG_CONSTRUCTOR
     std::cout<<"MindlinRollingTorsionInteraction::MindlinRollingTorsionInteraction() finished"<<std::endl;
 #endif
 }

References rollingSpring_, Vec3D::setZero(), and torsionSpring_.

◆ MindlinRollingTorsionInteraction() [2/3]

MindlinRollingTorsionInteraction::MindlinRollingTorsionInteraction ( )

         : BaseInteraction(), MindlinInteraction()
 {
     rollingSpring_.setZero();
     torsionSpring_.setZero();
 #ifdef DEBUG_CONSTRUCTOR
     std::cout<<"MindlinRollingTorsionInteraction::MindlinRollingTorsionInteraction() finished"<<std::endl;
 #endif
 }

References rollingSpring_, Vec3D::setZero(), and torsionSpring_.

◆ MindlinRollingTorsionInteraction() [3/3]

MindlinRollingTorsionInteraction::MindlinRollingTorsionInteraction ( const MindlinRollingTorsionInteraction & p )

Copy constructor.

Parameters

[in] p

         : BaseInteraction(p), MindlinInteraction(p)
 {
     rollingSpring_ = p.rollingSpring_;
     torsionSpring_ = p.torsionSpring_;
 #ifdef DEBUG_CONSTRUCTOR
     std::cout<<"MindlinRollingTorsionInteraction::MindlinRollingTorsionInteraction(const MindlinRollingTorsionInteraction& p) finished"<<std::endl;
 #endif
 }

References rollingSpring_, and torsionSpring_.

◆ ~MindlinRollingTorsionInteraction()

MindlinRollingTorsionInteraction::~MindlinRollingTorsionInteraction ( )

override

Destructor.

 {
 #ifdef DEBUG_DESTRUCTOR
     std::cout<<"MindlinRollingTorsionInteraction::~MindlinRollingTorsionInteraction() finished"<<std::endl;
 #endif
 }

Member Function Documentation

◆ computeFrictionForce()

void MindlinRollingTorsionInteraction::computeFrictionForce ( )

Computes the forces arising due to all three types of friction, i.e., sliding, rolling and torsional.

Calls the MindlinInteraction::computeFrictionForce() as well, see MindlinInteraction.cc.

Todo:: TW: Why do we not use the corrected diameter here, as in the rolling case? And check if Stefan uses radius or diameter

 {
     MindlinInteraction::computeFrictionForce();
     
     const MindlinRollingTorsionSpecies* species = getSpecies();
     //If tangential forces are present
     if (getAbsoluteNormalForce() == 0.0) return;
     
     if (species->getRollingFrictionCoefficient() != 0.0)
     {
         Mdouble rollingStiffness = tangentialStiffnessZero_;
         double effectiveRadius = getEffectiveRadius();
  
         //From Luding 2008, objective rolling velocity (eq 15) w/o 2.0!
         Vec3D rollingRelativeVelocity = - effectiveRadius *
                                         Vec3D::cross(getNormal(),
                                                      getP()->getAngularVelocity() - getI()->getAngularVelocity());
  
         const Mdouble springLength = rollingSpring_.getLength();
         if (springLength > 1e-10)
         {
             rollingSpring_ -= Vec3D::dot(rollingSpring_, getNormal()) * getNormal();
             rollingSpring_ *= springLength / rollingSpring_.getLength();
             // logger.assert(std::abs(slidingSpring_.getLength() - springLength) < 1e-10, "Spring length not the same after rotation");
         }
  
         //integrate(getHandler()->timeStep_);
         rollingSpringVelocity_ = rollingRelativeVelocity;
         rollingSpring_ += rollingSpringVelocity_ * getHandler()->getDPMBase()->getTimeStep();
         //logger(INFO,"rollingSpring.normalDirection %",Vec3D::dot(rollingSpring_/rollingSpring_.getLength(),getNormal()));
  
  
         //Calculate test force acting on P including viscous force
         Vec3D rollingForce = -rollingStiffness * rollingSpring_ -
                              species->getRollingDissipation() * rollingRelativeVelocity;
         
         //tangential forces are modelled by a spring-damper of elasticity kt and viscosity dispt (sticking),
         //but the force is limited by Coulomb friction (rolling):
         Mdouble rollingForceSquared = rollingForce.getLengthSquared();
         if (rollingForceSquared <=
             mathsFunc::square(species->getRollingFrictionCoefficientStatic() * getAbsoluteNormalForce()))
         {
             //if sticking (|ft|<=mu*|fn|), apply the force
         }
         else
         {
             //if rolling, resize the tangential force such that |ft|=mu*|fn|
             rollingForce *= species->getRollingFrictionCoefficient() * getAbsoluteNormalForce() /
                             std::sqrt(rollingForceSquared);
             //resize the tangential spring accordingly such ft=-k*delta-nu*relVel
             rollingSpring_ = -(rollingForce + species->getRollingDissipation() * rollingRelativeVelocity) /
                              rollingStiffness;
         }
         //Add (virtual) rolling force to torque
         addTorque(effectiveRadius * Vec3D::cross(getNormal(), rollingForce));
     } //end if rolling force
     
     if (species->getTorsionFrictionCoefficient() != 0.0)
     {
         Mdouble torsionStiffness = tangentialStiffnessZero_;
         Mdouble effectiveDiameter = 2.0 * getEffectiveRadius();
         
         //From Luding2008, spin velocity (eq 16) w/o 2.0!
         Vec3D torsionRelativeVelocity = effectiveDiameter * Vec3D::dot(getNormal(), getP()->getAngularVelocity() -
                                                                                     getI()->getAngularVelocity()) *
                                         getNormal();
         
         //Integrate the spring
         torsionSpringVelocity_ = torsionRelativeVelocity;
         //integrate(getHandler()->timeStep_);
         torsionSpring_ +=
                 Vec3D::dot(torsionSpring_ + torsionSpringVelocity_ * getHandler()->getDPMBase()->getTimeStep(),
                            getNormal()) * getNormal();
         
         //Calculate test force acting on P including viscous force
         Vec3D torsionForce = -torsionStiffness * torsionSpring_ -
                              species->getTorsionDissipation() * torsionRelativeVelocity;
         
         //tangential forces are modelled by a spring-damper of elasticity kt and viscosity dispt (sticking),
         //but the force is limited by Coulomb friction (torsion):
         Mdouble torsionForceSquared = torsionForce.getLengthSquared();
         if (torsionForceSquared <=
             mathsFunc::square(species->getTorsionFrictionCoefficientStatic() * getAbsoluteNormalForce()))
         {
             //if sticking (|ft|<=mu*|fn|), apply the force
         }
         else
         {
             //if torsion, resize the tangential force such that |ft|=mu*|fn|
             torsionForce *= species->getTorsionFrictionCoefficient() * getAbsoluteNormalForce() /
                             std::sqrt(torsionForceSquared);
             //resize the tangential spring accordingly such ft=-k*delta-nu*relVel
             torsionSpring_ = -(torsionForce + species->getTorsionDissipation() * torsionRelativeVelocity) /
                              torsionStiffness;
         }
         //Add (virtual) rolling force to torque
         addTorque(effectiveDiameter * torsionForce);
     } //end if torsion force
 }

References BaseInteraction::addTorque(), MindlinInteraction::computeFrictionForce(), Vec3D::cross(), Vec3D::dot(), BaseInteraction::getAbsoluteNormalForce(), BaseHandler< T >::getDPMBase(), BaseInteraction::getEffectiveRadius(), BaseInteraction::getHandler(), BaseInteraction::getI(), Vec3D::getLength(), Vec3D::getLengthSquared(), BaseInteraction::getNormal(), BaseInteraction::getP(), MindlinRollingTorsionSpecies::getRollingDissipation(), MindlinRollingTorsionSpecies::getRollingFrictionCoefficient(), MindlinRollingTorsionSpecies::getRollingFrictionCoefficientStatic(), getSpecies(), DPMBase::getTimeStep(), MindlinRollingTorsionSpecies::getTorsionDissipation(), MindlinRollingTorsionSpecies::getTorsionFrictionCoefficient(), MindlinRollingTorsionSpecies::getTorsionFrictionCoefficientStatic(), rollingSpring_, rollingSpringVelocity_, mathsFunc::square(), MindlinInteraction::tangentialStiffnessZero_, torsionSpring_, and torsionSpringVelocity_.

◆ getBaseName()

std::string MindlinRollingTorsionInteraction::getBaseName ( ) const

Returns interaction name/type.

Returns: std::string

 {
     return "Friction";
 }

◆ getElasticEnergy()

Mdouble MindlinRollingTorsionInteraction::getElasticEnergy ( ) const

overridevirtual

Returns the global amount of energy stored in all the springs (rolling, sliding and torsional).

Returns: Mdouble the total elastic energy stored in the frictional springs

Reimplemented from MindlinInteraction.

 {
     return MindlinInteraction::getElasticEnergy()
            + 0.5 * tangentialStiffnessZero_ * rollingSpring_.getLengthSquared()
            + 0.5 * tangentialStiffnessZero_ * torsionSpring_.getLengthSquared();
 }

References MindlinInteraction::getElasticEnergy(), Vec3D::getLengthSquared(), rollingSpring_, MindlinInteraction::tangentialStiffnessZero_, and torsionSpring_.

◆ getRollingSpring()

Vec3D MindlinRollingTorsionInteraction::getRollingSpring ( ) const

 {
     return rollingSpring_;
 }

References rollingSpring_.

◆ getSpecies()

const MindlinRollingTorsionSpecies * MindlinRollingTorsionInteraction::getSpecies ( ) const

Returns a const pointer of type FrictionSpecies*.

Returns: const MindlinRollingTorsionSpecies*

 {
     return static_cast<const MindlinRollingTorsionSpecies*>(getBaseSpecies()->getFrictionForce());
 ;
 }

References BaseInteraction::getBaseSpecies(), and BaseSpecies::getFrictionForce().

Referenced by computeFrictionForce().

◆ getTorsionSpring()

Vec3D MindlinRollingTorsionInteraction::getTorsionSpring ( ) const

 {
     return torsionSpring_;
 }

References torsionSpring_.

◆ integrate()

void MindlinRollingTorsionInteraction::integrate ( Mdouble timeStep )

overridevirtual

Computes the amount of compression in all the springs, i.e., increments the rollingSpring_, slidingSpring_ (see MindlinInteraction.cc) and torsionSpring_.

Parameters

[in] timeStep the amount of time by which the solution is evolved

Reimplemented from MindlinInteraction.

 {
     MindlinInteraction::integrate(timeStep);
     rollingSpring_ += rollingSpringVelocity_ * timeStep;
     torsionSpring_ += Vec3D::dot(torsionSpring_ + torsionSpringVelocity_ * timeStep, getNormal()) * getNormal();
 }

References Vec3D::dot(), BaseInteraction::getNormal(), MindlinInteraction::integrate(), rollingSpring_, rollingSpringVelocity_, torsionSpring_, and torsionSpringVelocity_.

◆ read()

void MindlinRollingTorsionInteraction::read ( std::istream & is )

overridevirtual

Interaction read function, which accepts an std::istream as input.

Parameters

[in/out] is input file stream

Reimplemented from MindlinInteraction.

 {
     MindlinInteraction::read(is);
     std::string dummy;
     is >> dummy >> rollingSpring_;
     is >> dummy >> torsionSpring_;
 }

References MindlinInteraction::read(), rollingSpring_, and torsionSpring_.

◆ reverseHistory()

void MindlinRollingTorsionInteraction::reverseHistory ( )

overridevirtual

A useful feature if one wants to return to the initial state of the springs. However, reverse history decrements the current state to the state corresponding to previous time step. Decrements the state or value of rollingSpring_, torsionSpring_ and slidingSpring_.

Reimplemented from MindlinInteraction.

 {
     MindlinInteraction::reverseHistory();
     //rollingSpring_=-rollingSpring_;
     //rollingSpringVelocity_=-rollingSpringVelocity_;
     torsionSpring_ = -torsionSpring_;
     torsionSpringVelocity_ = -torsionSpringVelocity_;
 }

References MindlinInteraction::reverseHistory(), torsionSpring_, and torsionSpringVelocity_.

◆ rotateHistory()

void MindlinRollingTorsionInteraction::rotateHistory ( Matrix3D & rotationMatrix )

overridevirtual

When periodic particles are used, some interactions need certain history properties rotated (e.g. tangential springs). This is the function for that.

Todo:: some of these might be unneccesary

Reimplemented from MindlinInteraction.

 {
     MindlinInteraction::rotateHistory(rotationMatrix);
     rollingSpring_ = rotationMatrix * rollingSpring_;
     rollingSpringVelocity_ = rotationMatrix * rollingSpringVelocity_;
     torsionSpring_ = rotationMatrix * torsionSpring_;
     torsionSpringVelocity_ = rotationMatrix * torsionSpringVelocity_;
 }

References rollingSpring_, rollingSpringVelocity_, MindlinInteraction::rotateHistory(), torsionSpring_, and torsionSpringVelocity_.

◆ setRollingSpring()

void MindlinRollingTorsionInteraction::setRollingSpring ( Vec3D rollingSpring )

 {
     rollingSpring_ = rollingSpring;
 }

References rollingSpring_.

◆ setTorsionSpring()

void MindlinRollingTorsionInteraction::setTorsionSpring ( Vec3D torsionSpring )

 {
     torsionSpring_ = torsionSpring;
 }

References torsionSpring_.

◆ write()

void MindlinRollingTorsionInteraction::write ( std::ostream & os ) const

overridevirtual

Interaction print function, which accepts an std::ostream as input.

Parameters

[in/out] os output file stream

Reimplemented from MindlinInteraction.

 {
     MindlinInteraction::write(os);
     os << " rollingSpring " << rollingSpring_;
     os << " torsionSpring " << torsionSpring_;
 }

References rollingSpring_, torsionSpring_, and MindlinInteraction::write().

Member Data Documentation

◆ rollingSpring_

Vec3D MindlinRollingTorsionInteraction::rollingSpring_

private

Stores the amount of rolling spring compression. Set in integrate(), used in computing frictional force due to rolling.

Referenced by computeFrictionForce(), getElasticEnergy(), getRollingSpring(), integrate(), MindlinRollingTorsionInteraction(), read(), rotateHistory(), setRollingSpring(), and write().

◆ rollingSpringVelocity_

Vec3D MindlinRollingTorsionInteraction::rollingSpringVelocity_

private

Stores the rate at which the rolling spring compresses or relaxes. Set in computeFrictionForce(), used in computing the amount of compression in rolling spring. Used in integrate().

Referenced by computeFrictionForce(), integrate(), and rotateHistory().

◆ torsionSpring_

Vec3D MindlinRollingTorsionInteraction::torsionSpring_

private

Stores the amount of torsional spring compression. Set in integrate(), used in computing frictional force due to torsion.

Referenced by computeFrictionForce(), getElasticEnergy(), getTorsionSpring(), integrate(), MindlinRollingTorsionInteraction(), read(), reverseHistory(), rotateHistory(), setTorsionSpring(), and write().

◆ torsionSpringVelocity_

Vec3D MindlinRollingTorsionInteraction::torsionSpringVelocity_

private

Stores the rate at which the torsional spring compresses or relaxes. Set in computeFrictionForce(), used in computing the amount of compression in torsion spring. Used in integrate().

Referenced by computeFrictionForce(), integrate(), reverseHistory(), and rotateHistory().

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ SpeciesType

Constructor & Destructor Documentation

◆ MindlinRollingTorsionInteraction() [1/3]

◆ MindlinRollingTorsionInteraction() [2/3]

◆ MindlinRollingTorsionInteraction() [3/3]

◆ ~MindlinRollingTorsionInteraction()

Member Function Documentation

◆ computeFrictionForce()

◆ getBaseName()

◆ getElasticEnergy()

◆ getRollingSpring()

◆ getSpecies()

◆ getTorsionSpring()

◆ integrate()

◆ read()

◆ reverseHistory()

◆ rotateHistory()

◆ setRollingSpring()

◆ setTorsionSpring()

◆ write()

Member Data Documentation

◆ rollingSpring_

◆ rollingSpringVelocity_

◆ torsionSpring_

◆ torsionSpringVelocity_